Publication
Singularity-invariant leg substitutions in pentapods
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2010
Pages
2766-2771
Doc link
http://dx.doi.org/10.1109/IROS.2010.5652202
File
Authors
Projects associated
Abstract
A pentapod is usually defined as a 5-degree-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, inclination angles of up to 90 degrees are possible thus overcoming the orientation limits of the classical Stewart platform. This talk presents a solution to the problem of finding those changes in the location of the leg attachments of a pentapod that leave its singularity locus invariant. Although the solution to this problem does not provide a fully characterization of the singularities, it provides a lot of insight into its nature. It is shown, for example, that there are four different architectures for a pentapod with a completely different behavior from the point of view of their singularities. The kinematics of pentaponds with coplanar attachments at the fixed base has previously been studied as rigid subassemblies of a Stewart platforms. In this talk, we treat the general case in which the base attachments are arbitrarily located in 3D space.
Categories
manipulators, robot kinematics.
Author keywords
pentapod, fully-parallel robots, singularities, singularity-invariant transformations
Scientific reference
J. Borràs and F. Thomas. Singularity-invariant leg substitutions in pentapods, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 2766-2771, IEEE.
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